sbpl_recovery::SBPLRecovery Class Reference

#include <sbpl_recovery.h>

Inheritance diagram for sbpl_recovery::SBPLRecovery:

Public Member Functions
void	initialize (std::string n, tf2_ros::Buffer *tf, costmap_2d::Costmap2DROS *global_costmap, costmap_2d::Costmap2DROS *local_costmap)
void	runBehavior ()
	SBPLRecovery ()
Public Member Functions inherited from nav_core::RecoveryBehavior
virtual	~RecoveryBehavior ()

Private Member Functions
std::vector< geometry_msgs::PoseStamped >	makePlan ()
void	planCB (const nav_msgs::Path::ConstPtr &plan)
double	sqDistance (const geometry_msgs::PoseStamped &p1, const geometry_msgs::PoseStamped &p2)

Private Attributes
int	attempts_per_run_
double	control_frequency_
double	controller_patience_
costmap_2d::Costmap2DROS *	global_costmap_
sbpl_lattice_planner::SBPLLatticePlanner	global_planner_
bool	initialized_
costmap_2d::Costmap2DROS *	local_costmap_
pose_follower::PoseFollower	local_planner_
nav_msgs::Path	plan_
boost::mutex	plan_mutex_
ros::Subscriber	plan_sub_
int	planning_attempts_
double	sq_planning_distance_
tf2_ros::Buffer *	tf_
bool	use_local_frame_
ros::Publisher	vel_pub_

Additional Inherited Members
Protected Member Functions inherited from nav_core::RecoveryBehavior
	RecoveryBehavior ()

Detailed Description

Definition at line 53 of file sbpl_recovery.h.

Constructor & Destructor Documentation

SBPLRecovery()

sbpl_recovery::SBPLRecovery::SBPLRecovery

(

)

Definition at line 45 of file sbpl_recovery.cpp.

Member Function Documentation

initialize()

void sbpl_recovery::SBPLRecovery::initialize ( std::string  n, tf2_ros::Buffer *  tf, costmap_2d::Costmap2DROS *  global_costmap, costmap_2d::Costmap2DROS *  local_costmap  )

virtual

Implements nav_core::RecoveryBehavior.

Definition at line 53 of file sbpl_recovery.cpp.

makePlan()

std::vector< geometry_msgs::PoseStamped > sbpl_recovery::SBPLRecovery::makePlan ( )

private

Definition at line 130 of file sbpl_recovery.cpp.

planCB()

void sbpl_recovery::SBPLRecovery::planCB ( const nav_msgs::Path::ConstPtr &  plan )

private

Definition at line 93 of file sbpl_recovery.cpp.

runBehavior()

void sbpl_recovery::SBPLRecovery::runBehavior ( )

virtual

Implements nav_core::RecoveryBehavior.

Definition at line 197 of file sbpl_recovery.cpp.

sqDistance()

double sbpl_recovery::SBPLRecovery::sqDistance ( const geometry_msgs::PoseStamped &  p1, const geometry_msgs::PoseStamped &  p2  )

private

Definition at line 123 of file sbpl_recovery.cpp.

Member Data Documentation

attempts_per_run_

int sbpl_recovery::SBPLRecovery::attempts_per_run_

private

Definition at line 83 of file sbpl_recovery.h.

control_frequency_

double sbpl_recovery::SBPLRecovery::control_frequency_

private

Definition at line 82 of file sbpl_recovery.h.

controller_patience_

double sbpl_recovery::SBPLRecovery::controller_patience_

private

Definition at line 82 of file sbpl_recovery.h.

global_costmap_

costmap_2d::Costmap2DROS* sbpl_recovery::SBPLRecovery::global_costmap_

private

Definition at line 72 of file sbpl_recovery.h.

global_planner_

sbpl_lattice_planner::SBPLLatticePlanner sbpl_recovery::SBPLRecovery::global_planner_

private

Definition at line 75 of file sbpl_recovery.h.

initialized_

bool sbpl_recovery::SBPLRecovery::initialized_

private

Definition at line 77 of file sbpl_recovery.h.

local_costmap_

costmap_2d::Costmap2DROS* sbpl_recovery::SBPLRecovery::local_costmap_

private

Definition at line 73 of file sbpl_recovery.h.

local_planner_

pose_follower::PoseFollower sbpl_recovery::SBPLRecovery::local_planner_

private

Definition at line 76 of file sbpl_recovery.h.

plan_

nav_msgs::Path sbpl_recovery::SBPLRecovery::plan_

private

Definition at line 81 of file sbpl_recovery.h.

plan_mutex_

boost::mutex sbpl_recovery::SBPLRecovery::plan_mutex_

private

Definition at line 80 of file sbpl_recovery.h.

plan_sub_

ros::Subscriber sbpl_recovery::SBPLRecovery::plan_sub_

private

Definition at line 78 of file sbpl_recovery.h.

planning_attempts_

int sbpl_recovery::SBPLRecovery::planning_attempts_

private

Definition at line 83 of file sbpl_recovery.h.

sq_planning_distance_

double sbpl_recovery::SBPLRecovery::sq_planning_distance_

private

Definition at line 82 of file sbpl_recovery.h.

tf_

tf2_ros::Buffer* sbpl_recovery::SBPLRecovery::tf_

private

Definition at line 74 of file sbpl_recovery.h.

use_local_frame_

bool sbpl_recovery::SBPLRecovery::use_local_frame_

private

Definition at line 84 of file sbpl_recovery.h.

vel_pub_

ros::Publisher sbpl_recovery::SBPLRecovery::vel_pub_

private

Definition at line 79 of file sbpl_recovery.h.

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The documentation for this class was generated from the following files:

• sbpl_recovery.h
• sbpl_recovery.cpp